Roseta

NEO Lander assessment DLR January 2006
FROM THE ROSETTA LANDER PHILAE TO AN

ASTEROID HOPPER: LANDER CONCEPTS FOR
SMALL BODIES MISSIONS
S. Ulamec, J. Biele
German Aerospace Center (DLR), Kln, Germany,
Dokumentname > 23.11.2004
Folie 2 > Vortrag > Autor
Outline
The investigation of small bodies, comets and asteroids, can contribute
substantially to our understanding of the formation and history of the
Solar System. In situ observations by Landers play an important role in
this field.
The Rosetta Lander Philae is currently on its way to comet
67P/Churyumov-Gerasimenko. Philae is an example of a ~100 kg
landing platform, including a complex and highly integrated payload,
consisting of 10 scientific instruments.
Other lander designs, more lightweight and with much smaller payload
are currently investigated in the frame of a number of missions to small
bodies in the Solar System.
We will address a number of possible concepts, including mobile surface
packages.
Background on small-body landers
Historically, there are only two missions which reached the surface of a
small body: the NEAR spacecraft touched down on asteroid Eros and
Hayabusa attempted to take samples from the surface of Itokawa and
recently returned to Earth.
In-situ probes can deliver a much higher scientific return if mobility is
possible to explore more than one site. We discuss mobility concepts for
low-gravity environments including current developments (the MASCOT
hopper).
Missions aiming for sample return, e.g., asteroid sample return mission
Hayabusa-2 , can be significantly enhanced by the implementation of in-
situ surface packages help to constrain the geological and physical
context of the samples, provide a hold on the evolutionary history of the
body by probing its interior.
Mobility can even scout the most interesting sampling sites on the
surface
Conditions when landing on Small Bodies
Low gravity
Impact velocity can be chosen small even without thrusters (0.5-2 m/s)
Rebounce needs to be minimized
Anchoring to be considered
Uncertainty regarding surface properties
Wide range of surface strength to be considered
Local slopes may be steep
Dust ice gas-jets
Usually not spherical wobbling potatoes
Rotation axis may be chaotic
Day night cycle at landing site not trivial to be estimated
Complex descent analysis necessary
Large variations of temperature day/night, heliocentric distance
Itokawa (J AXA/Hayabusa))
Wild 2 (NASA/Stardust)
Mathilde (NASA/NEAR)
Ida (NASA/Galileo)
Gaspra (NASA/Galileo)
Daktyl (NASA/Galileo)
Tempel 1 (NASA/Deep Impact)
Churyumov-Gerasimenko
Wirtanen
Wilson Harrington
Phobos (ESA/MEX)
Land here
Eros (NASA/NEAR)
Phobos (ESA/MEX)
Itokawa (J AXA/Hayabusa))
Halley (MPS/ESA/Giotto)
Wild 2 (NASA/Stardust)
Tempel 1 (NASA/Deep Impact)
Mathilde (NASA/NEAR)
Lander strategies
Impactor / Penetrator: not considered!
Classical Lander with landing legs or platform
(e.g. Philae, Phobos-Grunt)
Hopper (e.g. Phobos Hopper)
Opening shell (derivative from Mars Netlander)
Orbiter Landing
(e.g. Hayabusa)
Rosetta Mission
Rosetta is an ESA Rosetta is an ESA
cornerstone Mission to Comet cornerstone Mission to Comet
67P/Churyumov Gerasimenko 67P/Churyumov Gerasimenko
11 Orbiter Instruments plus 11 Orbiter Instruments plus
the Lander the Lander
Launch: March 2 Launch: March 2
nd nd
, 2004 , 2004
Arrival: May 2014, Arrival: May 2014,
Lander separation: Nov.2014 Lander separation: Nov.2014
Philae system overview
Overall mass of about 98 kg (including 26,7 kg of science payload)
based on a carbon fibre / aluminium honeycomb structure
power system including a solar generator, primary- and secondary
batteries
S-band communications system, using the Rosetta Orbiter as relay
Thermal control system: cope with Sun distance 2..3 AU, no RHUs;
double MLI tent, absorbers
Mechanical separation system: 0.05 .. 0.5 m/s to 1% and 0.3deg,
emergency spring eject
Landing Gear: tripod - dissipate landing energy, provide TD signal,
Change of target comet (Wirtanen to Churyumov-Gerasimenko)
prompted stiffening of LG.
Mission
Cruise: 10 years
SDL (Descent) 30 .. 60 min: Images, magnetic field, acoustic and IR
mapper calibration, dust impact
First science sequence: feasible only with primary battery, core science,
lasts about 55 hours
Longterm mission: ~3 months (until r<2 AU resp. overheating): very
interesting variations with day/night cycle and approach to the sun
/activity variations
Rosetta Trajectory
Lander FM
Thermal-Vacuum
Test at IABG,
October 2001
Schematic view of the Philae spacecraft
N.B.: some instruments are not visible in this
drawing: specifically, the instruments in charge
of analyzing the samples distributed by the SD2
(CIVA, COSAC, PTOLEMY), and the down-
looking camera (ROLIS).
Scientific Objectives of the Lander
In-situ-analysis of original material of the Solar System
Elemental and isotope composition
Organic molecules
Minerals and ices
Structure and physical properties of the nucleus
Surface topology
Physical properties
Stratigraphy, global internal structure
Observation of variations with time
Day-night cycle
Approach to the Sun
P/L Resources
Mass: 22.01 kg, 26.68 incl. SD
2
Power/Energy: currently about 52 - 65 hours of primary mission operation
are feasible with ca. 30% system margin, long term mission relying
entirely on solar cells thereafter
Average power: 15-20 W with primaries, 10 W with solar power alone at
daytime
Data: 235 Mbit during primary mission, 65 Mbit during each subsequent
60 h period
v
1
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v
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ROSETTA Or b i t er
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Landing Scenario
Delivery Strategy
A : WITHOUT ROTATION
OR POLAR LANDING
B : WITH ROTATION AND
EQUATORIAL LANDING
Periapsis 1 mean radius (minimises Vorbit)
Delivery at apoapsis (minimises Vimpact)
Vertical free fall
Vorbit Vmss
Vorbit
Vmss
Vads
Vrot
Vmss
Harpoon Anchoring Device
2 harpoons, accelerated by a
cartridge driven piston
into surface material and con-
nected by tensioned tether
to the Landers landing gear.
Includes MUPUS accelerometers and
temperature sensors
mass of unit: 400g
Projectile: 100g
rewind velocity: 0.5 m/s
anchor velocity: 60 m/s
rewind force(TBC): 1...30 N
max. tether tension: 200 N
max. gas pressure: 250 bar
Scalability of the Philae design
The Philae design can be scaled in mass and size to some extent;
internal DLR studies (Witte, 2009) show that similar landers for asteroids
can be designed in a mass range down to about 40 kg and probably well
beyond 150 kg. For very small systems (<< 50 kg), other concepts will be
more adequate.
MASCOT Lander (proposed for Marco Polo)
A Lander, MASCOT, has been
proposed, following the Instrument
AO for Marco Polo but now foreseen
for Hayabusa-2
Several options (depending e.g. on
the available mass 95- 70 -35- 10 kg)
were studied
A strawman payload has been
suggested:
Ion Laser Mass Analyser
Evolved Gas Analyser
APXS
Mbauer Spectrometer
Camera Systems (incl. microscope and
IR spectrometer
ATR
Mole Penetrator
-Seismometer
Tomographer Radar instrument
A 30 kg shell Lander (DLR/CNES study 2005)
NEO mission to 1996FG
3
Landed mass = max. 31 kg incl. margins
0.7 1.4 A.U. sun distance, Asteroid diameter 1400 m, bulk density 1100
3000 kg/m
3
, rotational period 3.6 hours
Vertical touchdown velocity < 1 m/s
For a 7.3 kg payload (incl. margins) two options are feasible:
either a battery-driven lander with a lifetime of approx. 5 days, or
a solar-generator powered lander with a long lifetime ( 2 months).
Total lander mass is 31 kg, 20% margins are included on each subsystem.
As most components of the lander system rely on Netlander phase B
developments or Philae FM parts, the design should be quite robust.
Delivery is straightforward, as there is no attitude control required.
Upon touchdown, two harpoons will anchor the lander and operations can be
started. Instruments are assumed to be integrated primarily on the RSS.
Thermal system design (large temperature amplitudes, 2:1 changes in solar
insulation!) based on Philae heritage.
NetLander Heritage for an Asteroid Lander
Basic Approach:
Use the developed mechanical platform of NetLander mainly as it is
The 4 secondary petals under the main lid are removed
(provided the Lander is battery-driven and does not need solar arrays)
Landing in Upright Position
When the Lander has reached its final position (after all rebounces),
the lid is slowly opened and a circumferential hose is inflated.
There is no need to determine the Lander attitude by any sensors in
advance. The operational configuration is reached automatically.
The operational configuration (upright position with lid opened) can
be safely reached from all landing scenarios.
Proper surface contact for the payload units is ensured.
Operational Configuration
The operational configuration (upright position with lid
opened) can be safely reached from all landing scenarios.
Proper surface contact for the payload units is ensured.
Mobility concepts for small bodies
I. General
Roving by wheeled vehicles is practically impossible
Alternatively, surface elements could move with relatively low
effort by means of propulsion systems (e.g., by cold gas
thrusters)
or using mechanically triggered jumping; the latter discussed in
more detail hereafter. For landers without attitude control during
descent, a self-rightening mechanism has to be foreseen for
proper orientation on the surface after touchdown or after a
mobility operation.
PROP-F, the Phobos hopper
45 kg hopper on the Russion Phobos-2
mission (1988)
1-2 km altitude drop over Phobos surface,
no attitude control, impact with 5 m/s
dampened by pacifier
Self-righening (see below), hopping: with
whiskers , spring tensioned by motor.
Operations time was limited to about 4
hours and a maximum of 10 jumps (driven by
the capacity of the battery, 30 Ah)
Image courtesy VNII
Transmash
Minerva: 0.6 kg robot on
Haybusa-1
Long-lived, excenter mass
uncontrolled hopping
The tests of the orientation mechanism of the mobile probe
with simulated Phobos gravity (courtesy VNIITransmash)
Mobility concepts for small bodies
II. Developments for future missions
Mascot XS hopper (see Caroline
Lange et al. Presentation!) inititally with
whiskers or arms
A slightly different concept of
mechanically triggered jumping includes
accelerating masses inside the lander
body. Depending on the parameters,
turning or hopping can be achieved.
These concepts are presently under
intense investigation in the context of the
MASCOT project at DLR.
10-15 kg range, 300x300x185 mm
3
,
Payload mass 3 kg
Scaleable: certainly bigger hoppers
are feasible!
MASCOT XS
MASCOT XS characteristics
Hopping distance order of 100 m, time 0.5 h, depending on
attitude and latitude for a given asteroid (Trot, size).
Lifetime ~15 hours (batteries only)
Solar generator option is not heavier, but more complex
(deployable petals, more complicated thermal system, operational
constraints)
Conclusions
Landers on Comets or Asteroid allow essential
measurements, even in case of a Sample Return
Mission
There is significant heritage in Europa for the
development of Small Bodies Landers; in the range
between ~10kg and >100 kg
Several Missions to small bodies are currently
studied (e.g. Hayabusa-2). All of them could/should
include Landers
Additional material
Structure
Manufactured in High Modulus Carbon Fibre (DLR Braunschweig,
Institute for Structural Mechanics)
Consists of
Baseplate
Experiment Carrier
Hood
Struts + Support Elements
Conductive Cover on outer Surfaces
Drill and Sampling Device SD
2
SD2 manufactured by Tecnospazio, Milano
under ASI contract
Drill depth up to 230 mm
drill-collect-transport to carousel-volume
checker - rotate carousel and present for
analysis
Mass 3.6 kg
Power 5 to 12 W
Missions and Studies
Phobos (1988-1989)
Included long term Lander and Hopper
Mission failed during approach
NEAR (1996 - 1997)
Rosetta Lander (2004 2014)
Philae (on ist way to Churyumov-Gerasimenko)
Concepts for smaller Landers: RoLand and Champollion
Hayabusa (2003)
Deep Impact (2005)
Phobos Grunt (2009 tbc)
Leonard (CNES-DLR-ASI study)
Marco Polo (ESA/(JAXA) Cosmic Vision study)
MASCOT (DLR-CNES-JAXA, ongoing)
Mass breakdown
Unit Mass[kg]
Structure 18,0
Thermal Control System
(/MLI)
3,9 (/2,7)
Power System (/ Batteries / Solar
Generator)
12,2(/8,5/1,7)
ActiveDescent System 4,1
Flywheel 2,9
LandingGear 10,0
AnchoringSystem 1,4
CDMS 2,9
TxRx 2,4
CommonElectronicsBox 9,8
MSS (on Lander), Harness,
balancingmass
3,6
Payload 26,7
Sum[Lander] 97,9
ESS, TxRx (onOrbiter) 4,4
MSS, harness 8,7
Sum[incl. Orbiter units] 111,0
PHILAE, THE ROSETTA LANDER:
the target is almost unknown
Engineering models for the comet surface properties covered a range for
the compressive strength between 60 kPa and 2 MPa. The surface
roughness is completely unknown. Extreme surface compressive
strengths down to a few kPa are now covered as well.
The results of space missions to various asteroids and comets indicate
that these bodies show a very wide range of surface characteristics and
are very different to each other.
Technical Challenge developing Philae (and merging
two smaller Landers both proposed for Rosetta)
Soft Landing on a Comet -
Nobody has tried this so far... How soft is the comet, anyway?
Size, mass, day-night period, temperature and surface properties
of the comet are only vaguely known
Longterm Operations of a Lander in Deep Space without RTGs
10 Science Instruments aboard a 100 kg Lander
Target: Comet 67P/Churyumov-Gerasimenko
Characteristica:
Diameter ~4000 m
Density 0.2-1.5 gcm
-3
Aphelion 5.75 AU
Perihel 1.3 AU
Orb.period 6.57 years
Albedo ca. 0.04
Rotation 12,7 h
latest Perihel: 2009 Feb 28
Discovered by Klim Churyumov in
photographs of 32P/Comas Sol taken
by Svetlana Gerasimenko on 22 October
1969.
Contribution of Philae to the Orbiter Science
Phenomena which are not observable remotely by the Rosetta Orbiter:
local erosion of the surface by sublimating ices, modifications of texture and chemical
composition of near surface materials, changes in dust precipitation and heat flux
through the surface, which is the determining parameter for all processes modifying
cometary material.
CONSERT
Seismometry and magnetometry will also be used to investigate the interior of the comet.
Local ground truth to calibrate Orbiter instruments.
Calibration of albedo and topographical features observed by the Orbiter camera.
In-situ chemical and mineralogical analysis of surface material by the Lander payload
provides a means to correlate chemical and mineralogical compositions with
brightness at various infrared wavelengths observed by the Orbiter.
Landing system
Damping of landing
Rotation and hight adjustment
Anchoring with harpune
Hold-down Thruster
Energy- und Thermal-Concept
Solar generator 11 W (at 3AU)
Primary and secondary batteries
warm and cold areas
Drill /Sampling Device
Drill depth 20 cm
multiple sampling
low temperature modifications
Data
Central computer
Data relay via Orbiter (16 kb/s)
Lander Characteristica
The Consortium
System contributions Instruments
[[DLR (Kln, Braunschweig) DLR (Kln, Braunschweig)
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[[GUD &Ep_x' GUD &Ep_x'
[[CQ CQ
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[[G Q* Mpq_w G Q* Mpq_w
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Scientific Instruments
Material Analysis
COSAC (MPS)
MODULUS (OU)
APX (MPCh/Uni Mainz)
Cameras
IVA (IAS)
ROLIS (DLR)
Structure
SESAME (DLR)
CONSERT (LPG)
MUPUS (U. Mnster/DLR)
Plasma/Magnetic Environment
ROMAP (TU Braunschweig)
Sampling & Drilling Device
SD
2
(Politecnico Milano)
Side view schematics of the inner structure of the lander
compartment
SD2
IVA
ROMAP
MUPUS
Balcony payload ( cold compartment )
APX
Local Environment Local Environment
Unknown topography and
surface
Shape [km] about 35
Temperatures
Day ~ -80 to 200 C
Night > -160 C
Rotation period 12,3 h
Surface strength:
1 kPa to 2 MPa (??)
Gravity ~10
-4
g
Comet Surface Temperature
100
120
140
160
180
200
220
-180 -135 -90 -45 0 45 90 135 180
Rotation angle
T
e
m
p
e
r
a
t
u
r
e

[
K
]
1.06 AU
2 AU
3AU
Sunrise
Noon
Sunset
Implications of Change of Target Comet
Increased Mission Time
Experimenters need to live even healthier.... landing in 2014
Churyumov-G. is considerably bigger than Wirtanen
increased landing velocity
stiffened cardanic joint in landing gear
iterated requirements regardind separation altitude (>1km)
different dust environment
baseline landing still at 3 AU
(from Wirtanen to CG)
SUBSYSTEMS
Warm (-40C) and cold (ambient cometary temperatures > -200C) areas
Solar absorbers on top panel
Electrical power dissipation about 10W average
No use of Radioisotope Heater Units (RHUs)
Thermal Control System
Power System
Power to be provided with solar generators and by batteries.
LILT solar cells (Si-based technology) 10-12 W @ day (3 a.u.)
Li/SOCl
2
-primary batteries (about 1000 Wh) Li-ion
secondary batteries (about 140 Wh)
Bootstrap procedure (wakeup)
Telecommunications TxRx
Telecommunication via Rosetta Orbiter, S-Band omnidir., redundant
Data rate 16 kbit/sec
Hard-coded TCs possible
Blind commanding possible
Max distance Lander-Orbiter: 150 km
Highest Priority 1 week prior and 1 week after separation (with high
fraction of visibility periods)
Priority as Orbiter instruments during long-term operations
On-board computer: CDMS
Provides central computing and data storage capability (2x2 Mbyte,
RAM, EEPROM)
Acts as interface to the telecoms system
Gouverns sequence of subsystem- and payload operations
Provided by a Hungarian Consortium (KFKI Budapest, U Budapest)
MOST FAVORABLE
LANDING AREAS
FROM THIS LIGHT CURVE DERIVED
FROM HST OBSERVATIONS
ON MARCH 2003 ,
THE P.LAMY TEAM MODELLED
A POSSIBLE CG NUCLEUS SHAPE
(DPS 2003 presentati on CNES/NASA grant)
Shape, Landing areas
Landing strategy
delivery foreseen in November 2014 at a distance of about 3 Astronomical Units (AU) to the
Sun
change of the target comet has a major impact on the Philae landing safety, since the
expected touchdown velocity is much higher than in the case of P/Wirtanen (the original
target of the Rosetta mission), due to the much larger size of P/Churyumov-Gerasimenko.
Some hardware changes have been implemented, to increase robustness at touch-down.
However, the safe landing remains highly sensitive to actual nucleus properties, largely
unknown at this time.
Consequently, a dedicated mapping phase will take place several months prior to
separation, acquiring data from Orbiter instruments to update environmental and surface
cometary models, towards an optimized selection of the landing site and of the release
strategy.
Following touch-down, Philae will have mission priority over Orbiter investigations for one
week
After this phase, Philae will share resources with the Orbiter investigations.
Touchdown Simulation
Landing with v
impact
of 1.2 m/s at a local slope of 30
Free cardanic joint Cardanic joint fixed to 5
Cardanic
joint
Bubble rotation limitation simulation:
The bubble rotation is free
for about 5, 2.5for the
cardanic joint and 2.5for
the rotational torsion of the
landing gear. The rotation
is limited by a hard spring.
Mars Swingby 2007: Some results
Closest Approach: 250.6 km
CIVA deliveres spectacular images
ROMAP detects Bow Shock
CIVA/Philae/ESA
Steins and Lutetia flybys
0.0
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Date
D
i
s
t
a
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(
A
U
)
Earth Distance
Sun Distance
Launch
020304
Earth Flyby
Mars Flyby
250207
RVM 1
230111
RVM 2
220514
Steins Flyby
050908
Earth Flyby
Earth Flyby
Comet Orbit
Insertion
220814
Landing
101114
Lutetia Flyby
100710
Future events
Landing Shock Tests on NetLander
Drop tests in the airbag belts (180 g deceleration) and impact tests on sand
and on hard ground were successfully performed
NetLander survives 2.5 m/s on hard ground without any damage
Internal payload and subsystem units can be shock-protected by mounting
on the internal baseplate, which is only softly coupled with the hard
structure
No airbags are needed for landing scenarios with 1 m/s
Landing in Upside-Down Position
In case of upside-down landing, the opening mechanism of the lid
will tilt the Lander until it falls (very slowly) into the upright position.
Repeated attempts are possible.
The uprighting mechanism was developed and qualified for Mars
environment, and can be adapted to very-low-gravity environment.
Structural Configuration (without the Lid)
Primary structure (carbonfiber) 2980 g
Lid (not shown on the photo) 1350 g
Mass dummies
of E-boxes
Silica isolation
Payload
instruments
on this side

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NEO Lander assessment DLR January 2006

FROM THE ROSETTA LANDER PHILAE TO AN

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